Frameless radiosurgery treatment system and method

ABSTRACT

A method and apparatus for selectively and accurately localizing and treating a target within a patient are provided. A three dimensional mapping of a region surrounding the target is coupled to a surgical intervention. Two or more diagnostic beams at a known non-zero angle to one another may pass through the mapping region to produce images of projections within the mapping region in order to accurately localize and treat the target wherein the images are captured using one or more image recorders.

RELATED APPLICATION

This application is a continuation in part of U.S. patent applicationSer. No. 09/270,404, filed Mar. 16,1999 entitled “Apparatus and Methodfor Compensating for Respiratory and Patient Motion During Treatment”which is owned by the same assignee as the present invention and isincorporated herein by reference.

BACKGROUND OF THE INVENTION

This invention relates generally to a system and method for treating apatient and in particular to a system and method for controlling atreatment to administer a precise dose to a patient. In more detail, theinvention relates to an apparatus and method for performing accuratesurgical procedures on a particular target region within a patientutilizing previously obtained reference data indicating the position ofthe target region with respect to its surrounding which may containcertain reference points.

In order to control a surgical procedure, such as radiosurgery, manydifferent prior techniques have been used including the manual targetingof the treatment. Many of the prior techniques are not sufficientlyaccurate so that healthy tissue surrounding the target region is oftenunnecessarily irradiated and damaged or killed. Other techniques areclumsy and cannot be used for particular types of treatments. Forexample, one prior technique involved frame-based stereotaxy that wasoften used for body parts and regions that could be easily physicallyimmobilized. For example, the frame based stereotaxy was often used toimmobilize the head of the patient so that a target region in the brain,such as a brain tumor, could be irradiated by the radiosurgical beam. Todo so, the patient was positioned on a treatment bed and then his/herhead was immobilized by a frame that was securely attached to theperson's head with some attachment means and that was also securelyattached to an immovable object such as a treatment table. Thus, duringthe treatment, the patient was not able to move his/her head at allwhich permitted an accurate targeting of the treatment. The problem isthat a frame-based system cannot be used for fractionated treatment inwhich repeated smaller does are given to the patient over somepredetermined period of time, such as a couple of weeks or a month. Afractionated treatment plan is often desirable since it permits largeroverall doses of treatment, such as radiation, to be applied to thetarget region while still permitting the healthy tissue to heal.Clearly, it is extremely difficult to leave the frame secured to thepatient's head for that period of time. In addition, it is impossible toremove the frame and later reposition the frame in the exact samelocation for the next treatment. Thus, the frame based stereotaxyprovides the desired accuracy, but cannot be used with various desirabletreatment schedules.

Another typical positioning system is a frameless stereotaxy systemwherein a physical frame attached to the patient is not necessary. Anexample of a frameless stereotaxy system is disclosed in U.S. Pat. No.5,207,223 which is owned by the same assignee as the present inventionand is incorporated herein by reference. In general, a preoperativeimaging of the region surrounding the target region is completed, suchas by computer tomography. Then, during the treatment, a stereo image isgenerated, such as by X-ray imaging. The stereo image is then correlatedto the preoperative image in order to locate the target regionaccurately. Then, a radiation source located on a robot is automaticallypositioned based on the correlation between the preoperative scans andthe stereo images in order to accurately treat the target region withoutunnecessarily damaging the healthy tissue surrounding the target region.

The current frameless stereotaxic techniques have some limitations whichlimit their effectiveness. First, most surgical operation rooms havelimited workspace and the current stereotaxic frameless systems requirea large space due to the movement of the robot supporting the surgicalradiation beam and the two beam imagers. Second, the cost of having twobeam generators and two imagers is very high making the treatment systemvery expensive. These systems also typically require some form ofimplanted fiducials, such as markers that are viewable using an X-ray,to track soft tissue targets. Finally, for most current framelesssystems, breathing and other patient motion may interfere with thetarget region identification and tracking due to a degradation of theimages. Thus, it is desirable to provide a frameless radiosurgerytreatment system and method that overcomes the above limitations andproblems and it is to this end that the present invention is directed.

SUMMARY OF THE INVENTION

A method and apparatus for selectively and accurately localizing andtreating a target within a patient are provided. A three dimensionalmapping of a region surrounding the target is coupled to a surgicalintervention. Two or more diagnostic beams at a known non-zero angle toone another may pass through the mapping region to produce images ofprojections within the mapping region in order to accurately localizeand treat the target. To accomplish the accurate positioning andtargeting, a three-dimensional (“3-D”) mapping of the patient isgenerated for a portion of the patient's body having the target regionand stored as reference data. Then, two or more diagnostic beams arepassed through the mapping region wherein the beams are at predeterminednon-zero angle with respect to each other. A single image camera orrecording medium may be used to capture the images from the one or morediagnostic beams such as shown in U.S. Pat. No. 5,207,223 to Adler. Inmore detail, the single image camera or recording medium may besegmented into one or more pieces so that the image from the firstdiagnostic beam is captured on a first piece of the recording medium,the image from the second diagnostic beam is captured on a second pieceof the recording medium, the images are downloaded to a computer andthen images from the subsequent diagnostic beams are captured.

Once the diagnostic images are generated, they are compared to thestored 3-D reference data to generate information about the patient andthe location of the target region as is known from the Adler patent. Atpredetermined small time intervals, the diagnostic images are obtainedand compared to the reference data. The results of the comparison may beused to adjust the targeting of the treatment beam on the target regionto ensure that the dose of the surgical treatment beam remains focusedon the target region. This results in a more accurate treatment so thatfewer healthy cells and tissue are damaged by the treatment whichresults in fewer complications following the treatment and permits moreaggressive and effective treatments.

In accordance with a first embodiment of the invention, there may be adiagnostic beam device or one or more diagnostic beam devices and asingle recording medium underneath the patient or close to the patientcouch. In one embodiment, the single diagnostic beam device moves in apredetermined manner to predetermined different positions so that thediagnostic beam, at each position, passes through the target region atpredetermined angles. Thus, each image generated by the diagnostic beamdevice is at a predetermined non-zero angle with respect to the otherimages. Once the diagnostic images are generated, the above treatmentcontrol process is used.

In accordance with a preferred embodiment of the invention, a diagnosticbeam device is used and a recording medium is located underneath thepatient as described above. In this embodiment, the diagnostic images ofthe target region, formed by moving the diagnostic beam device, aregated with respect to real-time measurement of involuntary patientmotion, such as respiration or pulsation. Thus, in this embodiment, themotion is compensated for as the treatment of the patient occurs and theimages acquired by the diagnostic beams are not degraded by the movementof the target region.

The series of diagnostic beam images formed by the moving diagnosticbeam generates a rough computer tomography (CT) scan of the patient thatmay be compared to the more precise pre-operative CT scan. In addition,the diagnostic beams and treatment beam may be energized and triggeredduring predetermined times during the respiration cycle of the patientto ensure accurate positioning of the target region.

Thus, in accordance with the invention, a system for directing atreatment beam towards a patient is provided. The system may comprise atreatment bed that supports the patient during the treatment and one ormore diagnostic beam generators for generating diagnostic beams directedtowards the patient during the treatment. The diagnostic beam generatorsmay be located at different predetermined positions so that the beamfrom each diagnostic beam generator is at a predetermined non-zero anglewith respect to the beams of the other diagnostic beam generators. Thesystem may further comprise a single image recording device locatedadjacent to the treatment bed for receiving the diagnostic beams fromthe two or more diagnostic beam generators so that the image recordingdevice captures the images from all of the diagnostic beams.

In accordance with another aspect of the invention, a system fordirecting a treatment beam towards a patient is provided that comprisesa treatment bed that supports the patient during the treatment and adiagnostic beam generator for generating a diagnostic beam directedtowards the patient during the treatment. The system further comprises atrack that supports the diagnostic beam generator to move the diagnosticbeam generator between one or more different positions so that the beamfrom each diagnostic beam generator is at a predetermined non-zero anglewith respect to the beam of the diagnostic beam generator at a differentposition. The system further comprises one or more image recordingdevice(s) located adjacent to the treatment bed for receiving thediagnostic beams from the diagnostic beam generator at the differentpositions in a sequential manner so that the image recording devicecaptures the images from all of the diagnostic beams.

In accordance with yet another aspect of the invention, a method fortreating a patient is provided wherein a three-dimensional mapping of aregion of the patient including a target region to be treated by atreatment beam is utilized and one or more diagnostic beams directedtowards the patient are generated. Then, one or more images are capturedin one or more image recorder(s) when the diagnostic beams pass throughthe target region of the patient wherein the diagnostic beams passthrough the patient at non-zero angles with respect to each other.Finally, the images from the diagnostic beams and the three-dimensionalmapping are compared in order to control the movement of the treatmentbeam during the treatment.

To perform the comparison, the intra-treatment/live images arecorrelated to the pre-operation data as is well known. The pre-operativedata provides spatial information on the relative placement of theanatomical structures from which the current intra-treatment position ofthe target region may be computed. To compute the target regionposition, the correlation method may comprise deforming thepre-operative data so that it optimally corresponds to theintra-treatment image data, or vice versa so that the deformation of theintra-treatment data better matches the pre-operative data.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating a typical frameless radiosurgicaltreatment system;

FIG. 2 is a diagram illustrating the diagnostic and treatment beams ofthe system shown in FIG. 1;

FIG. 3 is a block diagram illustrating the treatment system of FIG. 1;

FIG. 4 is a diagram illustrating a preferred embodiment of the framelesstreatment system in accordance with the invention;

FIG. 5 is a block diagram illustrating more of the details of thetreatment system of FIG. 4;

FIG. 6 is a flowchart illustrating a method for treatment in accordancewith the invention using the system of FIG. 4;

FIG. 7 is a diagram illustration a respiration cycle of a patient;

FIG. 8 is a flowchart illustrating a method for treating a patient withrespiration tracking in accordance with the invention;

FIG. 9 is a diagram illustrating a second embodiment of the framelesstreatment system in accordance with the invention;

FIG. 10 is a flowchart illustrating a method for treatment in accordancewith the invention using the system of FIG. 9;

FIG. 11 is a diagram illustrating a third embodiment of the framelesstreatment system in accordance with the invention;

FIG. 12 is a flowchart illustrating a method for treatment in accordancewith the invention using the system of FIG. 11; and

FIG. 13 illustrates the deformation of the pre-treatment and/orintra-treatment data to establish optimal correspondence to infer bettertarget positions.

DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT

The invention is particularly applicable to a radiosurgical treatmentsystem and method and it is in this context that the invention will bedescribed. It will be appreciated, however, that the system and methodin accordance with the invention has greater utility, such as to othertypes of treatments wherein it is necessary to accurately position atreatment at a target region within the patient in order to avoiddamaging healthy tissue such as to other types of medical procedureswith other types of medical instruments, such as positioning biopsyneedles, ablative, ultrasound or other focused energy treatments,positioning a laser beam for laser beam treatment or positioningradioactive seeds for brachytherapy. Prior to describing the invention,a typical radiosurgery device will be described to provide a betterunderstanding of the invention.

FIGS. 1-3 are diagram illustrating an example of a stereotaxic radiationtreatment device 10. The radiation treatment device 10 may include adata processor 12, such as a microprocessor, and a disc or tape storageunit 13 (shown in FIG. 3) which may store a three dimensional image of apatient 14. The three dimensional image may be loaded into the dataprocessor, if not already there, to compare the three dimensional imageto images generated during the surgical procedure. The three dimensionalimage may be generated by various conventional techniques such ascomputer aided tomography (CAT) scan or magnetic resonance imaging (MR).The radiation treatment device 10 may also include a beaming apparatus20 which, when activated, emits a collimated surgical ionizing beamdirected at a target region 18 (shown in FIG. 2). The collimatedsurgical ionizing beam may have sufficient strength to cause the targetregion to become necrotic. A variety of different beaming apparatus maybe used which generate an ionizing radiation or heavy particle beam suchas a linear accelerator and preferably an x-ray linear accelerator. Suchan x-ray beaming apparatus is commercially available. The beamingapparatus may be activated by the operator throwing a switch 23 at acontrol console 24 connected to the beaming apparatus 20 by a cable 22.

The radiation treatment device 10 may also include an apparatus forpassing a first diagnostic beam 26 and a second diagnostic beam 28through the region previously imaged by the three-dimensional image. Thediagnostic beams are positioned at a predetermined non-zero angle withrespect to each other, such as being orthogonal as shown in FIG. 2. Thediagnostic beams may be generated by a first x-ray generator 30 and asecond x-ray generator 32, respectively. A first and second imagereceiver 34, 36 or a single receiver may receive the diagnostic beams26, 28 to generate an image from the diagnostic beams which is fed intothe microprocessor 12 (as shown in FIG. 4) so that the diagnostic imagesmay be compared to the three-dimensional image.

The radiation treatment device 10 may also include a device foradjusting the relative positions of the beaming apparatus 20 and/or thepatient 14 so that the ionizing beam is continuously focused on thetarget region 18. In the radiation treatment device shown in FIG. 1, thepositions of the beaming apparatus and the patient may be altered withsix degrees of freedom by a gantry 40 and a moveable operating table 38with a tilting top 44. The positions of the beaming apparatus relativeto the patient may also be accomplished by using a processorcontrollable robotic arm mechanism that permits the beaming apparatus tobe moved freely about the patient's body including up, down,longitudinally along or laterally along the body of the patient.

FIG. 3 is a block diagram of the radiation treatment device 10 includingthe microprocessor 12, the tape drive 13, the beaming apparatus 20, therobotic arm 46 or the gantry 40, the x-ray cameras 30, 32, 34 and 36,and the operator control console 24 as described above. In addition, thedevice 10 may include safety interlocks 50 to ensure that the beamingapparatus is not activated accidentally. The device 10 may also includean operator display 48 for tracking the progress of the treatment andcontrolling the treatment. Any further details of the radiosurgerydevice may be found in U.S. Pat. No. 5,207,223 which is owned by theassignee of this application and which is incorporated herein byreference.

The above system is well suited for the treatment of stationary targetregions (e.g., stationary with respect to bony structures that can beseen on an image) wherein respiratory motion or pulsation motion do notaffect the accuracy of the treatment beam. The drawback of the abovesystem is that anatomic sites subject to respiratory motion aredifficult to treat. In accordance with the invention, the framelesstreatment system may improve upon the system shown in FIGS. 1-3. Theframeless treatment system and method in accordance with the inventionwith the above advantages will now be described.

FIG. 4 is a diagram illustrating a preferred embodiment of the framelesstreatment system 180 in accordance with the invention. This embodimentof the invention is particular applicable to the targeting of a targetregion without embedded markers wherein there is no surrounding regionthat can be easily located (e.g., no bones are present) and respirationmotion may affect the position of the target region. An example of atarget region for this embodiment is a lung tumor.

The treatment system 180 may include a patient treatment table or couch102 on which a patient 103 may rest during the treatment. The treatmentsystem may also include a diagnostic beam recording device 104 that maybe located underneath the treatment table and underneath the patient andone or more diagnostic beam generators 106 (one is shown in thisexample). The recording device 104 may record the images generated whenthe diagnostic beam device is energized at one or more differentpredetermined positions. The recording device 104 may be any device thatcan be used to capture the image generated by the diagnostic beams. In apreferred embodiment, the recording device 104 may be the amorphoussilicon plate that captures the x-ray beams being generated by thediagnostic beam generators 106. The recording device 104 may beconnected to a computer that controls the operation of the recordingdevice and the diagnostic beam generator. The recording device in thisembodiment may also have a first portion 105 and a second portion 107wherein the first diagnostic beam is captured by the first portion andthe second diagnostic beam is captured by the second portion. Thus, thediagnostic beams may be simultaneously energized or may be sequentiallyenergized. A recording medium with one or more diagnostic beams is alsoshown in U.S. Pat. No. 5,207,223 to Adler which is owned by the sameassignee as the present invention.

The robot and the treatment beam generator (shown in FIG. 5) are notshown in FIG. 4. The system may further include a track 152 in which thediagnostic beam generator moves so that the diagnostic beam generatormay be moved to different positions (see the diagnostic beam generator106 in a first position 154 and the other positions shown by the phantompictures of the generator) wherein the diagnostic beam generator is at adifferent non-zero angle with respect to the other positions. Thus, inthis embodiment, the diagnostic beam generator 106 is moved from thefirst position 154 to other positions at periodic times in order togenerate the images of the target region as described above. In additionto the elements shown in FIG. 5, the system may also include acontroller, to position of the diagnostic beam generator, that may becontrolled by the computer.

In addition to the above, this system 180 may also include an externalmarker tracking device 182 that may include one or more external markertracking generators 184 that generate one or more external markertracking beams 184, such as infrared beams or passive markers whoseposition is detectable with optical cameras. The system may also includeone or more external markers 188 attached to the patient that measurethe external movement of the patient during respiratory motion asdescribed in more detail in the co-pending application that wasincorporated by reference. Now, the system will be described in moredetail.

FIG. 5 is a block diagram illustrating more of the details of thetreatment system 100 of FIG. 4. In particular, the system 100 mayinclude a computer 110 that controls the operation of the variouselements of the system including the beam generators 106, 108 as well asthe image recorder 104. The system may also include a treatment beamdevice 112, such as a linear accelerator (LINAC) in this embodiment,that generates a treatment beam and a robot 114 that positions thetreatment beam (a LINAC manipulator in this embodiment) that are bothcontrolled by the computer 110 that may be a multi-processor computer inthis embodiment. The computer may issue control commands and receiveback status commands from the treatment beam generator 112, the robot114 and the beam generators 106, 108. For the image recorder 104, thecomputer may issue control signals to control the operation of the imagerecorder as described above and may receive image data from the imagerecorder.

The system may also include safety interlocks 116 that ensures that thediagnostic beams and the treatment beam cannot be activated ( the beamsare only energized when a status signal is received by the computer)unless all people other than the patient are out of the treatment roomdue to the radiation danger. The system may also include a tape drive118 for storing the images generated by the image recorder, thepre-operative CT three-dimensional images and any treatment planningsoftware that may perform the comparison of the images and control themovement of the treatment beam. The system may further include anoperator control console 120 and an operator display 122 that permit auser of the system, such as a surgeon, to interact with and operate thesystem and monitor the treatment. The treatment planning software in thecomputer may compare the pre-operative image to the images from thediagnostic beam generators to determine how to control the treatmentrobot and therefore the treatment beam during the treatment. Thecomputer, based on the comparison and the surgeon's manual commands, maythen control the treatment beam in order to deliver the appropriate doseto the patient without damaging the healthy tissue surrounding thetarget region. Now, a method of treatment using the preferred embodimentwill be described.

FIG. 6 is a flowchart illustrating a method 200 for treatment inaccordance with the invention using the system of FIG. 4. In step 202, athree-dimensional mapping of a region of the patient including thetarget region is generated prior to the treatment. The three-dimensionalmapping may be done using typical equipment such as computer tomography,magnetic resonance tomography or the like. The three-dimensional mappingof the region is stored in the storage device 118. The mapping shows therelative locations of the target region with respect to othersurrounding regions that may be seen in the mapping to locate the targetregion relative to the surrounding regions. For example, the targetregion may be a lung tumor.

On the day of treatment, the patient may be positioned on the treatmentbed as shown in FIG. 9. The respiratory cycle of the patient may then bedetermined in step 203 and at various different times during thetreatment. The respiratory cycle may be determined by monitoring chestwall surface movement with optical or ultrasound digitizers, and/or byusing a strain gauge, by the measurement of the airflow exiting thepatient or by other well known methods. In step 204, the system maydetermine if the treatment can begin based on the status of the safetyinterlocks. If it is not safe to begin the treatment, then the methodloops back to test the safety interlocks until a safe condition isindicated.

In step 206, a diagnostic beam generator is positioned along the trackin the appropriate position and energized by the computer in order togenerate an image on the recording device. In a preferred embodiment,the diagnostic beam generator is an x-ray generators and the imagerecorder is an amorphous silicon imager that generates an image inresponse to x-rays as is well known. The image generated by the firstdiagnostic beam in the image recorder may then be downloaded by thecomputer to the storage device attached to the computer in step 208 andthe image recorder may be reset. Each image is acquired at the samephase of the respiratory cycle as described below with respect to FIGS.7 and 8.

In step 210, the method determines if there are any other positions forthe diagnostic beam. If there are other positions for the diagnosticbeam, the method loops back to step 206 to energize that generator atthe other position, generate an image and download the image to thestorage device. In this embodiment, the movement of the diagnostic beamgenerator along the track generates multiple images wherein each imageis at a non-zero angle with respect to the other images and acquiredduring the same phase of the respiratory cycle. In accordance with theinvention, the method sequentially energizes the diagnostic beamgenerator at different positions to generate the images in a sequentialmanner. In accordance with the invention, repeated sequence of imagesfrom the diagnostic beam generator may be generated at periodic times sothat the location of the target region at different times may bedetermined.

The series of diagnostic beam images may be processed using a CT-likealgorithm to generate a 3-D image of the patient during the treatment.Once the series of diagnostic images are processed into a 3-D image, the3-D image is compared to the three-dimensional pre-operative mapping asis well known to determine the location of the target region at theparticular time in step 212. In step 214, the targeting of the treatmentbeam is adjusted based on the comparison so that the treatment beam isalways focused on the target region. If there are repeated diagnosticimages generated, after each new set of images is generated, the imagesare compared to the mapping and the treatment beam targeting is adjustedto compensate for changes in the position of the target region. In thismanner, the target region is accurately tracked so that the treatmentbeam is focused on the target region.

In some cases, the placement of certain structures is visible in theintra-treatment 3-D reconstruction, but the target region or criticalregion is either not visible at all, not clearly visible, or is visiblebut difficult to segment automatically by computer. In this case, thesystem may comprise the step of deforming the intra-treatment images insuch a way that the positions of the clearly visible structures bestmatch the pre-operative image data. From this, the exact deformationpattern of the entire anatomical area can be inferred. The exactposition of the target and/or healthy critical tissue visible in thepre-operative image data, but not clearly visible in the intra-treatmentdata may be inferred as described in more detail with reference to FIG.13.

FIG. 7 is a chart 260 illustrating a typical respiration cycle for ahuman being wherein the respiration cycle is represented by a sine wave.The y-axis of the chart is the movement of the chest wall thus showingthat the chest wall moves out and in during the respiration cycle. Afirst point 262 in the respiration cycle with maximum expansion of thechest and a second point 264 in the respiration cycle with no chestmovement are shown. The respiration cycle may be determined using thevarious techniques described above. In accordance with the invention,the energizing of the diagnostic beams and the treatment beam may beperiodically timed so that the energizing occurs at the correspondingpoints in the respiration cycle such as at the first point or the secondpoint. In addition, the energizing of the beams may occur at more thanone time during the respiration cycle. Thus, the accuracy of thetreatment is improved since the beams are energized at the same time inthe respiration cycle.

FIG. 8 is a flowchart illustration of a method 270 for energizing adiagnostic or treatment beam based on the respiration cycle inaccordance with the invention. In step 272, the treatment is started andthe respiration cycle of the patient is determined. In step 274, thesystem determines if at predetermined point in the respiration cycle hasoccurred and waits until the predetermined point has occurred. Once thepredetermined point in the respiration cycle is reached, the system mayenergize the beam in step 276. Now, a second embodiment of the inventionwill be described.

FIG. 9 is a diagram illustrating a second embodiment of the framelesstreatment system 150 in accordance with the invention. This embodimentof the invention is particular applicable to fiducial-less targeting ofa target region wherein a surrounding region can be located, but thesurrounding region does not have a fixed relationship with the targetregion (e.g., no bones are present) and respiration motion does notaffect the position of the target region. An example of a target regionfor this embodiment is the prostate.

The system 150 may include the same elements as the prior embodiment asdesignated by like reference numerals such as the treatment table 102,the image recorder 104 and the diagnostic beam generator 106. As withthe prior embodiment, the robot and the treatment beam generator are notshown. In this embodiment, a single diagnostic beam generator 106 may beused to further reduce the cost of the treatment system. In thisembodiment, the system may further include a track 152 in which thediagnostic beam generator moves so that the diagnostic beam generatormay be moved to different positions (see the diagnostic beam generator106 in a first position 154 and the other positions shown by the phantompictures of the generator) wherein the diagnostic beam generator is at adifferent non-zero angle with respect to the other positions. Thus, inthis embodiment, the diagnostic beam generator 106 is moved from thefirst position 154 to other positions at periodic times in order togenerate the images of the target region as described above. Theembodiment may have similar elements as those shown in FIG. 5 and mayalso include a controller, to position the diagnostic beam generator,that may be controlled by the computer. Now, the method of treatmentusing the second embodiment will be described.

FIG. 10 is a flowchart illustrating a method 160 for treatment inaccordance with the invention using the system of FIG. 9. In step 162, athree-dimensional mapping of a region of the patient including thetarget region is generated prior to the treatment. The three-dimensionalmapping may be done using typical equipment such as computer tomographyor the like. The three-dimensional mapping of the region is stored inthe storage device 118. The mapping shows the location of the targetregion with respect to other surrounding regions that may be seen in themapping to locate the target region relative to the surrounding regions.For example, the target region may be a prostate tumor and the othersurrounding regions may be the bladder. On the day of treatment, thepatient may be positioned on the treatment bed as shown in FIG. 7. Instep 164, the system may determine if the treatment can begin based onthe status of the safety interlocks. If it is not safe to begin thetreatment, then the method loops back to test the safety interlocksuntil a safe condition is indicated.

In step 166, a diagnostic beam generator is positioned along the trackin the appropriate position and energized by the computer in order togenerate an image on the recording device. In a preferred embodiment,the diagnostic beam generators is an x-ray generator and the imagerecorder is an amorphous silicon imager that generates an image inresponse to x-rays as is well known. The image generated by the firstdiagnostic beam in the image recorder may then be downloaded by thecomputer to the storage device attached to the computer in step 168 andthe image recorder may be reset. In step 170, the method determines ifthere are any other positions for the diagnostic beam. If there areother positions for the diagnostic beam, the method loops back to step166 to energize that generator at the other position, generate an imageand download the image to the storage device. In this embodiment, themovement of the diagnostic beam generator along the track generatesmultiple images wherein each image is at a non-zero angle with respectto the other images. In accordance with the invention, the methodsequentially energizes the diagnostic beam generator at differentpositions to generate the images in a time sequential manner. Inaccordance with the invention, repeated sequence of images from thediagnostic beam generator may be generated at periodic times so that thelocation of the target region at different times may be determined. The2-D images generated by the diagnostic beams are processed to yield aCT-like image which may then be compared to the pre-operative 3-Dmapping.

Once the diagnostic images are generated, the two or more images arecompared to the three-dimensional pre-operative mapping as is well knownto determine the location of the target region at the particular time instep 172. The comparison may again include the step of deformation asdescribed above. In step 174, the targeting of the treatment beam isadjusted based on the comparison so that the treatment beam is alwaysfocused on the target region. If there are repeated diagnostic imagesgenerated, after each new set of images is generated, the images arecompared to the mapping and the treatment beam targeting is adjusted tocompensate for changes in the position of the target region. In thismanner, the target region is accurately tracked so that the treatmentbeam is focused on the target region.

FIG. 11 is a diagram illustrating another embodiment of the framelesstreatment system 100 in accordance with the invention that may beparticularly suited for treating target regions that have a fixedrelationship to a fixed reference point, such as bones. Thus, thisembodiment of the invention may be used for treating, for example, thespine of a patient or the brain of the patient since these targetregions are near or surrounded by bones. The other embodiments of theinvention described below may be particularly suited for the treatmentof other target regions. In this figure, only one detector under thepatient couch is used. The two diagnostic beams in this case may eitherbe activated sequentially or the two beams may be activatedsimultaneously while projecting their respective images to a differentportion of the single detector plate/camera. The simultaneous activationof the diagnostic beams is particularly useful when time-stamps areneeded so that the exact time of a given 3-D position is known.

The treatment system 100 may include a patient treatment table or couch102 on which a patient 103 may rest during the treatment. In the exampleshown, the brain of the patient is being treated. The treatment systemmay also include a diagnostic beam recording device 104 that may belocated underneath the treatment table and underneath the patient andone or more diagnostic beam generators 106, 108 (two are shown in thisexample). The recording device 104 may record the images generated wheneach diagnostic beam device 106, 108 is energized. The recording device104 may be any device that can be used to capture the image generated bythe diagnostic beams. In a preferred embodiment, the recording device104 may be the amorphous silicon plate that captures the x-ray beamsbeing generated by the diagnostic beam generators 106, 108. Therecording device 104 may be connected to a computer that controls theoperation of the recording device and the diagnostic beam generators.The recording device in this embodiment may have a first portion 105 anda second portion 107 wherein the first diagnostic beam is captured bythe first portion and the second diagnostic beam is captured by thesecond portion. Thus, the diagnostic beams may be simultaneouslyenergized or may be sequentially energized.

In accordance with the invention, the diagnostic beam generators 106,108 may be controlled by the computer to be energized at differentpredetermined time intervals or simultaneously so that each diagnosticbeam generator is producing an image on the recording device at adifferent time or simultaneously. In addition, the diagnostic beamgenerators are located at different positions so that the diagnosticbeams pass through the patient at different non-zero angles so that theangle between the two diagnostic beams is also non-zero which permits atwo-dimensional image of the target region to be generated from the twoimages.

In operation, the first diagnostic beam generator 106 may be energizedto emit a diagnostic beam that passes through the target region andgenerates an image on the recording device. The image developed by therecording device is then downloaded to the computer and the recordingdevice is erased. Next, the second diagnostic beam 108 is energized andan image generated by the second diagnostic beam is received by therecording device. This image is also downloaded to the computer where itis stored with the first image. By comparing these diagnostic images incombination with the pre-operative 3-D CT scan or the like, thetreatment beam (not shown) of the treatment system may be accuratelytargeted at the target region. For purposes of illustration, thetreatment beam generator and the treatment beam robot are not shown inFIG. 11. The operation of this embodiment of the treatment system isdescribed in more detail below with reference to FIG. 12.

FIG. 12 is a flowchart illustrating a method 130 for treatment inaccordance with the invention using the system of FIG. 11. Inparticular, in step 132, a three-dimensional mapping of a region of thepatient including the target region is generated prior to the treatment.The three-dimensional mapping may be done using typical equipment suchas computer tomography or the like. The three-dimensional mapping of theregion is stored in the storage device 118. The mapping shows thelocation of the target region with respect to other surrounding regionsthat may be seen in the mapping and appear on X-ray images made with theimage recorder. For example, the target region may be a brain tumor andthe other surrounding regions may be the skull bones. On the day oftreatment, the patient may be positioned on the treatment bed as shownin FIG. 4. In step 134, the system may determine if the treatment canbegin based on the status of the safety interlocks. If it is not safe tobegin the treatment, then the method loops back to test the safetyinterlocks until a safe condition is indicated.

In step 136 when the treatment begins, a first diagnostic beam generatoris energized by the computer in order to generate an image on therecording device. In a preferred embodiment, the diagnostic beamgenerators are x-ray generators and the image recorder is an amorphoussilicon imager that generates an image in response to x-rays as is wellknown. The image generated by the first diagnostic beam in the imagerecorder may then be downloaded by the computer to the storage deviceattached to the computer in step 138 and the image recorder may bereset. In step 140, the method determines if there are any otherdiagnostic beams to be energized. If there are other diagnostic beams toenergize, the method loops back to step 136 to energize that generator,generate an image and download the image to the storage device. In thisembodiment, there may be two diagnostic beam generators that are at apredetermined non-zero angle with respect to each other. In accordancewith the invention, the method sequentially energizes the diagnosticbeam generators to generate the images from each of the diagnostic beamsin a time sequential manner. In accordance with the invention, repeatedpairs of images from the diagnostic beam generators may be generated atperiodic times so that the location of the target region at differenttimes may be determined.

Once the diagnostic images are generated, the two images are compared tothe three-dimensional pre-operative mapping as is well known todetermine the location of the target region at the particular time instep 142. In step 144, the targeting of the treatment beam is adjustedbased on the comparison so that the treatment beam is always focused onthe target region. If there are repeated diagnostic images generated,after each new set of images is generated, the images are compared tothe mapping and the treatment beam targeting is adjusted to compensatefor changes in the position of the target region. In this manner, thetarget region is accurately tracked so that the treatment beam isfocused on the target region.

FIG. 13 illustrates a pre-operative image 250 and intra-treatment imagedata 252 generated by the diagnostic beams. As shown, theintra-treatment images generated by the diagnostic beams are less clearand it is difficult to make out all of the structures or even the targetregion in the image. The pre-operative image 250, on the other hand, isvery clear and each structure of the body can be clearly seen.Therefore, in order to make it possible to infer the position of thetarget region from the intra-treatment images shown, the intra-treatmentimage is deformed, using various well known deformation techniques suchas linear interpolation or warping, to form a deformed image 254 untilthe intra-treatment images and its structures form the best match withthe pre-operative images. Once the deformation is completed, theposition of the target region may be inferred from the position of thestructures. This deformation technique may be used with all of theembodiments of the invention described above.

Although the above embodiments show a single diagnostic beam sourcebeing used, the invention is not limited to a single diagnostic beamsource. In fact, the system may use five fixed sources that generate thediagnostic beams and two or more moving sources that generate thediagnostic beams. For the fixed sources, they may be activated atspecific time points throughout the respiration cycle. More detailedinformation about the deformation model corresponding to respiratorymotion may then be obtained as set forth in the U.S. pat. applicationSer. No. 09/270,404.

While the foregoing has been with reference to particular embodiments ofthe invention, it will be appreciated by those skilled in the art thatchanges in these embodiments may be made without departing from theprinciples and spirit of the invention, the scope of which is defined bythe appended claims.

1. A system for directing a treatment beam towards a patient,comprising: a treatment bed that supports the patient during thetreatment; two or more diagnostic beam generators for generatingdiagnostic beams directed towards the patient during the treatment, thediagnostic beam generators being located at different predeterminedpositions so that the beam from each diagnostic beam generator is at apredetermined non-zero angle with respect to the beams of the otherdiagnostic beam generators; and an image recording device locatedadjacent the treatment bed for receiving the diagnostic beams from thetwo or more diagnostic beam generators so that the image recordingdevice captures the images from all of the diagnostic beams.
 2. Thesystem of claim 1 further comprising means for generating athree-dimensional pre-operative image of the target region, means forcomparing the images from the diagnostic beam generators to thethree-dimensional image to determine the position of the target regionat that time and means for adjusting the targeting of a treatment beamin response to the comparison of the three-dimensional image and thediagnostic beam images.
 3. The system of claim 2, wherein the adjustingmeans further comprises a computer-controlled robot for positioning thetreatment beam.
 4. The system of claim 3, wherein the diagnostic beamgenerators comprises x-ray beam generators.
 5. The system of claim 4,wherein the image recorder comprises an amorphous silicon imagerecorder.
 6. The system of claim 5, wherein the treatment beam isgenerated by a linear accelerator.
 7. A system for directing a treatmentbeam towards a patient, comprising: a treatment bed that supports thepatient during the treatment; a diagnostic beam generator for generatinga diagnostic beam directed towards the patient during the treatment; atrack that supports the diagnostic beam generator to move the diagnosticbeam generator between one or more different positions so that the beamfrom each diagnostic beam generator is at a predetermined non-zero anglewith respect to the beam of the diagnostic beam generator at a differentposition; and an image recording device located adjacent to thetreatment bed for receiving the diagnostic beams from the diagnosticbeam generator at the different positions so that the image recordingdevice captures the images from all of the diagnostic beams.
 8. Thesystem of claim 7 further comprising a respiratory motion detectionsystem that determines the external movement of the patient during arespiratory cycle to compensate for respiratory motion of the patientduring the treatment.
 9. The system of claim 8, wherein the respiratorymotion detection system further comprises means for triggering thediagnostic beam generator during a predetermined phase of therespiratory cycle.
 10. The system of claim 8, wherein the respiratorymotion detector further comprises one or more markers attached to theexterior of the patient that move during respiration and a markerdetection beam for detecting the movement of the markers.
 11. The systemof claim 10, wherein the marker detection beam is a infrared beam. 12.The system of claim 7 further comprising means for generating athree-dimensional pre-operative image of the target region, means forcomparing the images from the diagnostic beam generators to thethree-dimensional image to determine the position of the target regionat that time and means for adjusting the targeting of a treatment beamin response to the comparison of the three-dimensional image and thediagnostic beam images.
 13. The system of claim 12, wherein theadjusting means further comprises a computer-controlled robot forpositioning the treatment beam.
 14. The system of claim 13, wherein thediagnostic beam generators comprises x-ray beam generators.
 15. Thesystem of claim 14, wherein the image recorder comprises an amorphoussilicon image recorder.
 16. The system of claim 15, wherein thetreatment beam is generated by a linear accelerator.
 17. The system ofclaim 12, wherein the image comparison means comparison furthercomprises means for deforming the pre-operative image so that thevisible structures in the pre-operative image and the diagnostic beamimages match and means for determining the location of a target regionbased on the deformation.
 18. The system of claim 12, wherein the meansimage comparison further comprises means for deforming the diagnosticbeam images so that the visible structures in the pre-operative imageand the diagnostic beam images match and means for determining thelocation of a target region based on the deformation.
 19. A method fortreating a patient, comprising: utilizing a three-dimensional mapping ofa region of the patient including a target region to be treated by atreatment beam; generating one or more diagnostic beams directed towardsthe patient; capturing one or more images in a single image recorderwhen the diagnostic beams pass through the target region of the patientwherein the diagnostic beams pass through the patient at non-zero angleswith respect to each other; and comparing the images from the diagnosticbeams to the three-dimensional mapping in order to control the movementof the treatment beam during the treatment.
 20. The method of claim 19,wherein utilizing the three-dimensional mapping further comprisesgenerating three-dimensional computer tomography mapping of the regionprior to the treatment of the patient.
 21. The method of claim 19further comprising determining the external movement of the patientduring a respiratory cycle to compensate for respiratory motion of thepatient during the treatment.
 22. The method of claim 21, wherein therespiratory motion detection further comprises tracking the movement ofone or more markers attached to the exterior of the patient that moveduring respiration.
 23. The method of claim 21, wherein the respiratorymotion detection further comprises triggering the diagnostic beamgenerator during a predetermined phase of the respiratory cycle.
 24. Themethod of claim 23, wherein the triggering further comprises triggeringbased on the sensors recording the respiration of the patient.
 25. Themethod of claim 19, wherein comparing the images further comprisesdeforming the pre-operative image so that the visible structures in thepre-operative image and the diagnostic beam images match and determiningthe location of a target region based on the deformation.
 26. The systemof claim 19, wherein comparing the images further comprises deformingthe diagnostic beam images so that the visible structures in thepre-operative image and the diagnostic beam images match and determiningthe location of a target region based on the deformation.
 27. A methodfor directing a treatment beam towards a target region in a patient,comprising: generating a three-dimensional image of the patient prior tothe treatment; determining the respiration cycle of the patient;energizing one or more diagnostic beams at a predetermined time duringthe respiration cycle to locate the target region during the treatment;and energizing a treatment beam at the same predetermined time duringthe respiration cycle to treat the target region.
 28. An apparatus fordirecting a treatment beam towards a target region in a patient,comprising: means for generating a three-dimensional image of thepatient prior to the treatment; means for determining the respirationcycle of the patient; means for energizing one or more diagnostic beamsat a predetermined time during the respiration cycle to locate thetarget region during the treatment; and means for energizing a treatmentbeam at the same predetermined time during the respiration cycle totreat the target region.